Beruflich Dokumente
Kultur Dokumente
DOI:10.5545/sv-jme.2009.018
0 INTRODUCTION
Considerable effort aiming at reducing
the cost, the ever increasing expectations of
users when it comes to reliability, the greater
complexity of modern technical systems, and
other requests, bring us to the conclusion that the
approach based on system engineering principles,
remains the only way to stay competitive on the
market. Intensifying the integration of electronic
components into areas which used to be strictly
mechanical and the degree of change within
technologies, all result in increased demands for
dealing with the problems on the basis of what is
offered by system engineering. In recent years,
motor vehicles industry has started developing
an unusual trend - the mechatronic systems with
intelligent and autonomous abilities. Development
of integrated mechatronic systems should, in
its own way, play the key role in motor vehicles
industry [1]. Mechatronics is being more and
more accepted as the design methodology for
all motor vehicle systems. Verification of proper
functionality through simulation can improve
reliability and reduce component design time.
Replacement of simple electro-mechanical
100
*Corr. Authors Address: University of Belgrade, Faculty of Mechanical Engineering, Kraljice Marije 16,
11120 Belgrade, Serbia, vpopovic@mas.bg.ac.rs
101
x2 =
+
b1 k1
b
Y1 +
Y1 + 2 ( Z - x2 ) +
m2
m2
m2
F
k2
( Z - x2 ) - a .
m2
m2
b1 b1 k1 k1
+ )Y1 - ( + )Y1 m1 m2
m1 m2
(5)
k
b2
1
1
( Z - x2 ) - 2 ( Z - x2 ) + Fa ( + ).
m2
m1 m2
m2
k1 k1
k
+ )Y1 - 2 ( Z - x2 ) +
m1 m2
m2
+ Fa (
(2)
F
b1 k1
Y1 - Y1 + a ,
m1
m1
m1
x1 -
x2 = Y1 = -(
(1)
x1 = -
(6)
1
1
+ ))dt.
m1 m2
(7)
x1 = +
b1b2
b b
b
b
k
x1 + ( 1 ( 1 + 1 + 2 ) - 1 )Y1 +
m1m2
m1 m1 m2 m2 m1
(8)
F b
b1b2
Z + a - 1 Y2 .
m1m2
m1 m1
(3)
(4)
103
m2
0
1
m1
+
0
1 + 1
m1 m2
1
0
0
k
b1 b1 b1 b2
( +
+ ) 1
m1 m1 m2 m2 m1
b1 b1 b2
+
+ )
m1 m2 m2
k1 k1 k2
+
+ )
m1 m2 m2
0
b1
x1
m1
* x1 +
1 Y1
Y2
0
0
b1b2
m1m2
Fa ,
b
2 Z
m2
k
2
m2
x1
x
F
Y = [ 0 0 1 0] 1 + [ 0 0] a .
Y1
Z
Y2
(9)
(10)
U ( z)
T / TI TD
= K 1 +
+ (1 z 1 )
1
E( z)
T
1 z
(11)
or
Dp ( z ) = K P +
KI
+ K D (1 z 1 ) ,
1 z 1
105
0
0
1.0000
0
1.0000
0
.
.
0
0
1
0000
0
0005
Ada = 0
0.0034 1.0000 0.0125 0.00001 ,
0.0232
0
0.9762 0.0005
0
0.7652 0.0002 0.9051 0.9998
0
0
0
0
0
Bda = 0 0.0034 ,
0 0.0232
0 0.7652
and
T
u (k ) .
2
(12)
Bi = 1; Ci = T; Di = T/2;
[Ada Bda Cda Dda] =
= series(Ad,Bd,Cd,Dd,Ai,Bi,Ci,Di).
0.
107
6 REFERENCES
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[3] Fischer, D., Isermann, R. (2004).
Mechatronic semi-active and active vehicle
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Design and simulation of active suspension
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